Sensual massage is touching and stroking of your lover’s body with the intention of arousing erotic feelings. So it goes further than trying to induce relaxation, as with a regular massage.
Although touching the genitals can be part of it, it’s more than fingering or a hand job. You are focussed on the body as a whole.
You look for sensitive spots which might be left unattended during sex, like the fingers, the feet, the face, the thighs, the perineum, the back, the neck, the hollow of the knees or the guy’s nipples.
You can also knead the buttocks and then caress them as well as the anal cleft. Some love it when you slap the buttocks lightly, but ask this beforehand because not everyone will enjoy it.

A sensual massage may end up with ‘massaging’ the genitals (see hand job and fingering), leading to orgasm, or with making love. But this is not necessarily the case.